主动前轮转向与防抱死制动系统的协调控制

李晓龙,黄鹤,田闯,李惟,杨澜,王会峰,高涛

Coordinated control of active front wheel steering and anti-lock braking system

Xiaolong LI,He HUANG,Chuang TIAN,Wei LI,Lan YANG,Huifeng WANG,Tao GAO

表 2 顶层控制器模糊控制规则表

Tab.2 Fuzzy control rule table of top-level controller

eβ QA $ {{{e}^{\prime}}}_{\text{β}} $=a1 $ {{{e}^{\prime}}}_{\text{β}} $=a2 $ {{{e}^{\prime}}}_{\text{β}} $=a3 $ {{{e}^{\prime}}}_{\text{β}} $=z $ {{{e}^{\prime}}}_{\text{β}} $=b1 $ {{{e}^{\prime}}}_{\text{β}} $=b2 $ {{{e}^{\prime}}}_{\text{β}} $=b3 a1 PB PB PS Z PS PB PB a2 PB PM Z NS Z PM PB a3 PS Z NM NB NS Z PS z Z NS NB NB NB NS Z b1 PS Z NS NB NM Z PS b2 PB PM Z NS Z PM PB b3 PB PB PS Z PS PB PB